Automated pre-roll fill and twist system and method

ABSTRACT

In some embodiments, a system includes a pod assembly, a dispensing assembly, a filling assembly, a spinning assembly, a twisting assembly, an unloading assembly, and an electronic control unit. The dispensing assembly can dispense a set of cones into the pod assembly, each cone having a first end and a second end, the first end being a pre-closed end. The filling assembly can fill each cone in the pod assembly with filler material. The spinning assembly can spin the pod assembly such that the filler material within each cone is compressed. The twisting assembly can twist the second end of each cone such that the second end is closed. The unloading assembly can remove each cone from the pod assembly and transfer each cone to another location separate from the pod assembly.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to and the benefit of U.S. Provisional Patent Application No. 62/966,868, filed Jan. 28, 2020, entitled “Automated Pre-Roll Fill and Twist System and Method,” the disclosure of which is hereby incorporated by reference in its entirety.

BACKGROUND

The demand for pre-filled smoking cones has been increasing in recent years. Typical methods of filling smoking cones are slow and inconsistent with respect to the amount of filler material (e.g., smoking herbs) included in each cone. Thus, there is a need for systems and methods of increasing the speed and consistency with which smoking cones can be packed with filler material.

SUMMARY

In some embodiments, a system includes a pod assembly, a dispensing assembly, a filling assembly, a spinning assembly, a twisting assembly, an unloading assembly, and an electronic control unit. The dispensing assembly can dispense a set of cones into the pod assembly, each cone having a first end and a second end, the first end being a pre-closed end. The filling assembly can fill each cone in the pod assembly with filler material. The spinning assembly can spin the pod assembly (e.g., can function as a centrifuge) such that the filler material within each cone is compressed. The twisting assembly can twist the second end of each cone such that the second end is closed. The unloading assembly can remove each cone from the pod assembly and transfer each cone to another location separate from the pod assembly.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic block diagram of a system, according to an embodiment.

FIGS. 2A-2D are various views of the system, according to an embodiment.

FIGS. 3A-3D are various views of a pod assembly of the system of FIGS. 2A-2D.

FIGS. 4A-4C are various views of a dispensing assembly of the system of FIGS. 2A-2D.

FIGS. 5A-5D are various views of a filling assembly of the system of FIGS. 2A-2D.

FIGS. 6A-6C and 7A-7C are various views of the spinning assembly of the system of FIGS. 2A-2D.

FIGS. 8A-8D are various views of the twisting/unloading assembly of the system of FIGS. 2A-2D.

FIG. 9 is a flow chart of a method, according to an embodiment.

DETAILED DESCRIPTION

The systems and methods described herein can be used to manufacture herb cigarettes (also referred to as “pre-rolls,” “pre-rolled cigarettes,” and/or “joints”) and output the herb cigarettes at high volumes. The herb cigarettes can include, for example, closed smoking article containers (also referred to as “paper rolls,” “cones,” and “casings”) (e.g., pre-rolled paper cones) filled with compressed filler material.

The systems and methods described herein can be automated to produce an herb cigarette such that the casing of the herb cigarette may be dispensed, filled with filler material, spun to compress the filler material, twisted closed, and unloaded from the system without the need for physical human interaction with the casing or filler material. In some embodiments, the filler material can include a smoking herb such as tobacco, cannabis, and/or combinations of different smoking herbs. In some embodiments, the casing of each herb cigarette can be filled with between about 0.25 grams of filler material and about 2 grams of filler material. In some embodiments, each herb cigarette can have an overall closed length of between about 25 mm and about 150 mm. For example, the overall closed length of each cigarette can be between about 25 mm and about 50 mm, between about 50 mm and about 75 mm, between about 75 and about 100 mm, between about 100 mm and about 125 mm, between about 125 mm and about 150 mm, and all values in between.

In some embodiments, the systems and/or methods described herein can produce about 1,000, about 2,500, and/or between about 1,000 and about 2,500 herb cigarettes per hour (e.g., via dispensing each casing of each herb cigarette, disposing filler material within each casing, compressing the filler material in each casing, twisting an open end of each casing closed, and/or unloading each filled casing). In some embodiments, the systems and/or methods described herein can produce about 500 herb cigarettes per hour, about 600 herb cigarettes per hour, about 700 herb cigarettes per hour, about 800 herb cigarettes per hour, about 900 herb cigarettes per hour, about 1000 herb cigarettes per hour, about 1100 herb cigarettes per hour, about 1200 herb cigarettes per hour, about 1300 herb cigarettes per hour, about 1400 herb cigarettes per hour, about 1500 herb cigarettes per hour, about 1600 herb cigarettes per hour, about 1700 herb cigarettes per hour, about 1800 herb cigarettes per hour, about 1900 herb cigarettes per hour, about 2000 herb cigarettes per hour, about 2100 herb cigarettes per hour, about 2200 herb cigarettes per hour, about 2300 herb cigarettes per hour, about 2400 herb cigarettes per hour, about 2500 herb cigarettes per hour, about 2600 herb cigarettes per hour, about 2700 herb cigarettes per hour, about 2800 herb cigarettes per hour, about 2900 herb cigarettes per hour, about 300 herb cigarettes per hour, and all values in between.

In some embodiments, the systems and/or methods described herein can compress (also referred to as “pack”) filler material within each casing using a spinning assembly that spins each casing such that the filler material moves toward a closed end of each casing (e.g., is compressed or “packed” toward the closed end by an outward force applied to the filler material from the open end toward the closed end). In some embodiments, after a set of casings have been filled with filler material, the spinning assembly can spin the set of casings simultaneously to compress the filler material in each casing. In some embodiments, the spinning assembly can spin more than one set of casings (e.g., two, three, four, five, six, seven, or eight sets of casings) simultaneously to compress the filler material in each casing of each set simultaneously. In some embodiments, each set of casings can be disposed in a pod assembly (also referred to as a smoking article container receptacle assembly or a casing receptacle assembly) and the spinning assembly can engage with and spin each pod assembly. In some embodiments, a vibration device can be included in, for example, a filling assembly and used to dispose filler material within each casing (e.g., to transport filler material toward each casing by vibrating a surface on which the filler material is disposed prior to falling into each casing), and compression of the filler material can be accomplished via the spinning assembly (e.g., using the spinning assembly as a centrifuge) without the use of any vibration device or vibration step to vibrate the filler material disposed within each casing and/or to vibrate the casings themselves.

FIG. 1 is a schematic illustration of a system 100. The system 100 includes a dispensing assembly 120, a filling assembly 140, a spinning assembly 160, a twisting assembly 180A, an unloading assembly 180B, and an electronic control unit 105. The system 100 also includes a pod assembly 110 (also referred to as a smoking article container receptacle assembly or a casing receptacle assembly). The pod assembly 110 can be engaged with and/or be acted upon by each of the dispensing assembly 120, the filling assembly 140, the spinning assembly 160, and the twisting/unloading assembly 180. In some implementations, the twisting assembly 180A and the unloading assembly 180B can optionally be combined into a single twisting/unloading assembly 180. In some implementations, the system 100 can optionally include a grinding assembly 101 configured to prepare filler material for the filling assembly 140. In some implementations, the system 100 can optionally include a packaging assembly 103 configured to package the output of the twisting/unloading assembly 180 (e.g., herb cigarettes) for transport (e.g., to a customer). Although FIG. 1 shows only one pod assembly 110, the system 100 can include any suitable number of pod assemblies 110.

The system 100 can be used to manufacture herb cigarettes. For example, empty smoking article containers (also referred to as “paper rolls,” “cones,” and “casings”) can be loaded into the dispensing assembly 120. Each of the smoking article containers can have a closed first end, an open second end, and define an interior cavity. In some embodiments, a filter may be disposed at or near the closed end of the smoking article container. In some embodiments, the empty smoking article containers can have a conical shape. In some embodiments, the empty smoking article containers can have a cylindrical shape. The empty smoking article containers can be formed of, for example, natural unbleached smoking paper. In some implementations, the smoking article containers can be pre-rolled and may be stacked in columns prior to being loaded into the dispensing assembly.

The pod assembly 110 can include a set of elongated members arranged to receive a set of empty smoking article containers from the dispensing assembly 120. The pod assembly 110 can also include a frame configured to support the set of elongated members and/or including a latching component (described in more detail below) extending above the set of elongated members. Each of the elongated members may define a lumen extending from a first side of the elongated member (e.g., a top) to a second side of the elongated member (e.g., a bottom). Each elongated member can be shaped such that, when an empty smoking article container is received into the lumen through an opening in the top of the elongated member, the empty smoking article container is retained within the elongated member and does not fall through an opening in the bottom of the elongated member). For example, each elongated member may have a first portion having a larger inner diameter than a second portion of the elongated member such that an empty smoking article container having at least a portion having a larger outer diameter than the second portion of the elongated member may be received within the first portion and prevented from passing partially or completely into the second portion due to the change in inner diameter between the first portion and the second portion. In some implementations, each elongated member or a first or upper portion of each elongated member can have a conical shape (e.g., a conically-shaped inner surface). The second or lower portion of each elongated member can define a cylindrical portion of the lumen of the elongated member having a smaller diameter than at least a portion of the lumen defined by the first or upper portion of the elongated member. In some implementations, each elongated member can have a stepped shape (e.g., a stepped-shaped inner surface). In some implementations, each elongated member can include an internal protrusion projecting from an inner surface of the elongated member into the lumen such that an empty smoking article container is obstructed from passing completely through the elongated member by the internal protrusion.

The pod assembly 110 can be moved relative to the dispensing assembly 120, the filling assembly 140, the spinning assembly 160, and the twisting/unloading assembly 180 via any suitable moving assembly (not shown). For example, the moving assembly may include one or more conveyor belts configured to transport the pod assembly 110 through the system 100. Each of the dispensing assembly 120, the filling assembly 140, the spinning assembly 160, and/or the twisting/unloading assembly 180 can include a linear actuator configured to engage with a bottom of the pod assembly 110 and lift the pod assembly 110 off of the moving assembly. Furthermore, each of the dispensing assembly 120, the filling assembly 140, the spinning assembly 160, and/or the twisting/unloading assembly 180 can include a rotary indexer configured to engage with the bottom of the pod assembly 110 to orient the pod assembly 110 (e.g., a particular elongated member of the pod assembly 110) relative to the dispensing assembly 120, the filling assembly 140, the spinning assembly 160, and/or the twisting/unloading assembly 180, respectively. In some embodiments, the pod assembly 110 can be manually moved between the dispensing assembly 120, the filling assembly 140, the spinning assembly 160, and/or the twisting/unloading assembly 180.

The dispensing assembly 120 can be configured to release a set of empty smoking article containers into the elongated members of the pod assembly 110 such that one empty smoking article container is disposed within each of the elongated members of the pod assembly 110. For example, the dispensing assembly 120 can include a magazine that is loaded with stacked columns of empty smoking article containers. The dispensing assembly 120 can dispense the bottommost empty smoking article container from each stack simultaneously into the elongated members of the pod assembly 110 to load the pod assembly with empty smoking article containers. For example, the dispensing assembly 120 can include an inner inflation bladder and an outer inflation bladder. The inner inflation bladder can be arranged outside of the bottommost set of empty smoking article containers and the outer inflation bladder can be arranged inside of the bottommost set of empty smoking article containers. The inner inflation bladder and the outer inflation bladder can be transitioned from an initial configuration to an inflated configuration such that the inner inflation bladder and the outer inflation bladder grip the bottommost set of empty smoking article containers. The inner inflation bladder and the outer inflation bladder can then be translated downward toward the pod assembly 110 such that the bottommost set of empty smoking article containers are separated from the magazine. The inner inflation bladder and the outer inflation bladder can then be transitioned from the inflated configuration to the initial configuration such that the set of empty smoking article containers are released and drop into the elongated members of the pod assembly 110.

The pod assembly 110 can then be moved to align with the filling assembly 140. For example, a conveyor belt can translate the pod assembly 110 from the dispensing assembly 120 to the filling assembly 140, a linear actuator can raise the pod assembly 110 off of the conveyor belt, and a rotary indexer can align a particular elongated member with one or more features of the filling assembly 140. The filling assembly 140 can be configured to deliver filler material to each empty smoking article container via the open end of each empty smoking article container. The filler material can be, for example, smoking herbs such as cannabis, tobacco, or combinations of different smoking herbs. The filling assembly 140 can include a receptacle, a trench, a weigh basket, and a funnel. The rotary indexer can be configured to align each cone with the funnel sequentially (e.g., by rotating the pod assembly 110 through a series of discrete positions relative to the funnel) such that the filling assembly 140 can deliver filler material to each cone one at a time. The trench can be configured to deliver filler material from the receptacle to the weigh basket. For example, the filling assembly 140 can include a vibration device coupled to the trench and the trench can be inclined toward the weight basket. The vibration device can vibrate the trench such that filler material disposed on the surface of the trench moves toward and falls into the weigh basket. The weigh basket can be configured to pivot and deliver filler material into the funnel when the weight of filler material in the weigh basket is above a threshold weight. The filler material can travel through the funnel and into the cone aligned with the funnel. After the cone is filled with the filler material previously disposed in the weigh basket, the linear actuator can lower the pod assembly 110 relative to the funnel and the rotary indexer can rotate the pod assembly 110 such that the next adjacent elongated member and cone can be aligned with the funnel for filling. In some embodiments, the vibration device can pause or cease vibrating the trench upon the filler material in the weigh basket being determined to be at or above a threshold weight and can restart vibrating the trench after the weigh basket returns to an initial position after pivoting to deliver the material into the funnel.

After filling each smoking article container in the pod assembly 110, the pod assembly 110 can be moved to align with the spinning assembly 160. The spinning assembly 160 can include a set of spin arms, at least one linear actuator, and at least one latch actuator assembly. Each spin arm can include a latch assembly configured to be transitioned between a latched configuration and an unlatched configuration by the at least one latch actuator assembly. The at least one linear actuator can be configured to lift the pod assembly 110 such that a latching component (also referred to as an anchor component) of the pod assembly 110 (e.g., a rod coupled to and laterally extending from an extension member of the frame of the pod assembly 110) can be coupled to a spin arm. The at least one latch actuator assembly can cause the latch assembly to transition to an unlatched configuration in which a latch member of the latch assembly is in an unlatched position and the at least one linear actuator can lift the pod assembly 110 such that the latching component is engaged with the spin arm. The latch assembly can then transition to the latched configuration in which the latch member is in a latched position such that the pod assembly 110 is latched to and retained by the spin arm and can rotate relative to the spin arm (e.g., about an axis of the latching component). The spinning assembly 160 can then rotate the spin arms (e.g., operate as a centrifuge) such that the pod assembly 110 rotates from a vertical orientation to a horizontal orientation and the filler material disposed within each smoking article container is compressed toward a closed end of each smoking article container by an outward force relative to a center of the spinning assembly 160 (e.g., a centerline of a central support column about which the spin arms are rotating) applied in the direction of the closed end of each smoking article container.

The pod assembly 110 can then be moved to align with the twisting assembly 180A. The twisting assembly 180A can include a displacement actuator, a gripping subassembly, and a twisting subassembly. The displacement actuator and/or an elongated member coupled to and translatable by the displacement actuator is configured to extend upward through a bottom opening an elongated member of the pod assembly 110 and push a smoking article container vertically such that the smoking article container partially extends from a top of the pod assembly 110 and can be gripped by the gripping subassembly (e.g., via grippers actuated toward opposing sides of a body portion of the smoking article container). With the gripping subassembly holding the smoking article container, the twisting subassembly can grip and twist the second end relative to the portion held by the gripping subassembly (e.g., via grippers actuated toward opposing sides of an upper portion of the smoking article container and rotatable relative to the smoking article container) such that the smoking article container is twisted closed.

The unloading assembly 180B can include a gripping subassembly and a linear actuator configured to move the gripping subassembly. The gripping subassembly can be the same gripping subassembly as included in the twisting subassembly 180A or a distinct gripping subassembly. After the smoking article container is twisted closed, the gripping subassembly can be translated by the linear actuator to align with either a receptacle or a chute. The gripping subassembly can then release the smoking article container such that the smoking article container falls into the receptacle or down the chute. In some implementations, the unloading assembly 180A is configured to determine if a smoking article container is defective (e.g., based on imaging of the smoking article container compared to a reference image and/or a weight of the smoking article container), and will align the smoking article container with the receptacle if the smoking article container is determined to be defective. If the smoking article container is determined not to be defective, the gripping subassembly can align the smoking article container with the chute such that the smoking article container can slide down the chute to an external area.

As shown in FIG. 1, each of the dispensing assembly 120, the filling assembly 140, the spinning assembly 160, the twisting assembly 180A, and the unloading assembly 180B can be coupled to the electronic control unit 105. The grinding assembly 101 and the packaging assembly 103 can also optionally be coupled to the electronic control unit 105. The electronic control unit 105 can control the actuation of any suitable actuator or indexer and control the operation of any sensor included in the dispensing assembly 120, the filling assembly 140, the spinning assembly 160, the twisting assembly 180A, the unloading assembly 180B, the grinding assembly 101, and/or the packaging assembly 103. Furthermore, the electronic control unit 105 can control the moving assembly (e.g., any conveyor belts included in the system 100) such that the one or more pod assemblies 110 can be moved relative to the dispensing assembly 120, the filling assembly 140, the spinning assembly 160, the twisting assembly 180A, and/or the unloading assembly 180B at the desired and/or coordinated times. The electronic control unit 105 can be configured to coordinate operation of the system 100 such that each of the dispensing assembly 120, the filling assembly 140, the spinning assembly 160, the twisting assembly 180A, and the unloading assembly 180B can simultaneously engage with and/or act upon one or more distinct pod assemblies 110. For example, the spinning assembly 160 can rotate (e.g., spin) a set of pod assemblies 110 simultaneously and can simultaneously engage a first spin arm with a pod assembly 110 while disengaging another pod assembly 110 from a second spin arm. Thus, under the control of the electronic control unit 105, each of the dispensing assembly 120, the filling assembly 140, the spinning assembly 160, the twisting assembly 180A, and the unloading assembly 180B can simultaneously and continuously operate as a series of pod assemblies 110 transition sequentially through each stage of the system 100 (e.g., through each of the dispensing assembly 120, the filling assembly 140, the spinning assembly 160, the twisting assembly 180A, and the unloading assembly 180B).

Although the system 100 is described herein as including the dispensing assembly 120, the filling assembly 140, the spinning assembly 160, the twisting assembly 180A, and the unloading assembly 180B, in some embodiments the system 100 includes a subset of the dispensing assembly 120, the filling assembly 140, the spinning assembly 160, the twisting assembly 180A, and the unloading assembly 180B. For example, in some embodiments, the system 100 includes only the dispensing assembly 120, the filling assembly 140, and the spinning assembly 160. In some embodiments each of the dispensing assembly 120, the filling assembly 140, the spinning assembly 160, the twisting assembly 180A, and the unloading assembly 180B can be operated independently such that a user may user only one of the assemblies described herein.

The electronic control unit 105 can include a memory, a processor, and a user interface. In some implementations, the electronic control unit 105 can include a tablet computer and/or a smartphone. The memory can include any electronic component capable of storing electronic information. The term memory may refer to various types of processor-readable media such as random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), programmable read-only memory (PROM), erasable programmable read only memory (EPROM), electrically erasable PROM (EEPROM), flash memory, magnetic or optical data storage, registers, etc. Memory is said to be in electronic communication with a processor if the processor can read information from and/or write information to the memory. Memory that is integral to a processor is in electronic communication with the processor.

The processor can include one or more of: a general purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine and so forth. Under some circumstances, a “processor” may refer to an application specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), etc. The term “processor” may refer to a combination of processing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core or any other such configuration.

The user interface can include any suitable user interface. The user interface may include touch buttons and/or a touch screen. The user interface can be used to set parameters of the system 100. For example, the user interface can be used to set spin duration and spin rate parameters of the spinning subassembly 160 depending, at least in part, on characteristics of the filler material.

FIGS. 2A-2D are various views of a system 200. The system 200 can be the same or similar in structure and/or function to any of the systems described herein, such as the system 100. The system 200 can be used to fill empty smoking article containers with filler material (e.g., cannabis, tobacco, or combinations of different smoking herbs). The smoking article containers are referred to herein as “cones,” but in some embodiments can be in the form of other shapes (e.g., cylinders). The system 200 includes a support surface 206 and a guarding enclosure 208. The guarding enclosure 208 can include an opening 208A such that filled and closed cones can be released from the system 200. FIGS. 2A and 2B are a perspective view and a front view, respectively, of the system 200. FIGS. 2C and 2D are a front view and a top view, respectively, of the system 200 with the guarding enclosure 208 removed.

The system 200 can include a dispensing assembly 220, a filling assembly 240, a spinning assembly 260, and a twisting/unloading assembly 280. The system 200 can also include an electronic control unit 205, a conveyer assembly 204, and a number of pod assemblies 210. The conveyor assembly 204 can include a first portion 204A, a second portion 204B, and a third portion 204C. The first portion 204A, the second portion 204B, and the third portion 204C of the conveyor assembly 204 can each be dual strand flat belt conveyors configured to move the pod assemblies 210 between locations within the system 200. For example, the first portion 204A can translate a series of pod assemblies 210 to the dispensing assembly 220, from the dispensing assembly 220 to the filling assembly 240, and from the filling assembly 240 to the spinning assembly 260. The second portion 240B can move the pod assemblies 210 from the spinning assembly 260 to the twisting/unloading assembly 280, and from the twisting/unloading assembly 280 to the third portion 204C. The third portion 204C can be configured to move the pod assemblies 210 from the second portion 204B to the first portion 204B such that the pod assemblies 210 can continue moving through the sequence of locations associated with the steps of the system 200.

The guarding enclosure 208 can include one or more guard doors near each of the assemblies of the system 200 (e.g., the dispensing assembly 220, the filling assembly 240, the spinning assembly 260, and the twisting/unloading assembly 280) such that the assemblies can be accessed via the guard doors (e.g., by an operator for servicing or maintenance). One or more interlocks and one or more switches can be associated with each guard door and coupled to the electronic control unit 205 such that the electronic control unit 205 can cause the system 200 (e.g., each of the assemblies of the system 200) to automatically pause, shut down, or return to an initial configuration if a guard door is opened during operation of the system 200. In some implementations, the guarding enclosure 208 of the system 200 can be optional. Additionally, the guarding enclosure 208 can include one or more movable internal walls disposed between one or more pairs of assemblies of the system 200 (e.g., the dispensing assembly 220, the filling assembly 240, the spinning assembly 260, and the twisting/unloading assembly 280) such that two of the assemblies can be temporarily separated by an internal wall during a stage of operation of the system 200. For example, a first movable wall can be disposed between the filling assembly 240 and the spinning assembly 260. The first movable wall can have an initial position in which the first movable wall does not obstruct the path between the filling assembly 240 and the spinning assembly 260 (e.g., along the first portion 204A) and a second position in which the first movable wall is disposed between and obstructs the path between the filling assembly 240 and the spinning assembly 260 to protect each assembly in the event of a malfunction during, for example, a spinning portion of the operation of the spinning assembly 260. The first movable wall can be moved between the initial position and the second position by one or more actuators. Similarly, a second movable wall can be disposed between the spinning assembly 260 and the twisting/unloading assembly 280. The second movable wall can have an initial position in which the second movable wall does not obstruct the path between the spinning assembly 260 and the twisting/unloading assembly 280 (e.g., along the second portion 204B) and a second position in which the second movable wall is disposed between and obstructs the path between the spinning assembly 260 and the twisting/unloading assembly 280 to protect each assembly in the event of a malfunction during, for example, a spinning portion of the operation of the spinning assembly 260. The second movable wall can be moved between the initial position and the second position by one or more actuators.

FIGS. 3A-3D are various views of a pod assembly 210 (also referred to as a smoking article container receptacle assembly or a casing receptacle assembly). FIG. 3A is a perspective view, FIG. 3B is a top view, FIG. 3C is a side view, and FIG. 3D is a front view, respectively, of the pod assembly 210. The pod assembly 210 includes a base member 212, an upper member 214, and a set of elongated members 216. The set of elongated members 216 can include any suitable number of elongated members 216, such as, for example, twelve, sixteen, twenty, twenty-four, or thirty elongated members 216. Each elongated member 216 defines a lumen extending from a first end of the elongated member 216 to a second end of the elongated member. The base member 212 includes an inner circular frame and an outer rectangular (e.g., square) frame. The inner circular frame of the base member 212 defines a set of through-holes. The upper member 214 defines a set of through-holes 213. The set of through-holes defined in the inner circular frame of the base member 212 and the set of through-holes 213 in the upper member 214 can each include a number of through-holes corresponding to the number of elongated members 216 in the set of elongated members 216 of the pod assembly 210. The first end of each elongated member 214 can be coupled to the base member 212 and the second end of each elongated member 214 can be coupled to the upper member 214 such that the lumen of each elongated member 216 is aligned with the through-holes 213 defined in the upper member 214 and the through-holes defines in the base member 212.

Each elongated member 216 can include a lower portion 215 and an upper portion 217. The lower portion 215 can be tubular and the upper portion 217 can be conical. The shape of the upper portion 217 can correspond to the shape of the cone 202. For example, the inner surface of the upper portion 217 can have a taper corresponding to a taper of an outer surface of the cone 202. The lower portion 215 can have an inner diameter that is equal to or smaller than the smallest inner diameter of the upper portion 217 such that the cone 202 can be received and seated in the upper portion 217 via the through-holes 213 in the upper member 214 without exiting the pod assembly 210 via the lower portion 215 and the through-holes in the base member 212. In some embodiments, rather than the upper portion 217 having a tapered or conical shape, the upper portion 217 can have a cylindrical shape with a larger inner diameter than the inner diameter of the lower portion 215 such that that each elongated member 216 has a stepped profile between the upper portion 217 and the lower portion 215. Elongated members 216 having such a shape can be used with cylindrical shaped smoking article containers.

The pod assembly 210 can include a latching component 218 (also referred to as an anchor component) extending beyond the top ends of each of the elongated members 216. The latching component 218 can extend from and/or through an upper surface of the upper member 214. The latching component 218 can include an extension member 219 and a dowel 211 (also referred to as a rod) extending laterally from the extension member 219 (e.g., from two opposing sides of the extension member 219). For example, the dowel 211 can be disposed perpendicularly to a central axis of the extension member 219. In some implementations, the extension member 219 can extend from and/or form a portion of a central support column of the pod assembly 210 that extends from the base member 212 to and/or through the upper member 214.

In some embodiments, the base member 212, the upper member 214, and/or the latching component 218 can be included in a frame of the pod assembly 210. In some embodiments, the frame of the pod assembly 210 can be configured to support the set of elongated members 216 without, for example, the upper member 214. For example, a frame element can support the set of elongated members 216 via contact at a midportion of each of the elongated member 216. In some embodiments, rather than including distinct elongated members 216, the pod assembly 210 can include a monolithic structure within which lumens are defined similarly to the lumens described with respect to the elongated members 216.

FIGS. 4A-4C are various views of a dispensing assembly 220. FIG. 4A is a perspective view of the dispensing assembly 220 in a first configuration. FIG. 4B is a perspective view of the dispensing assembly 220 in a second configuration. FIG. 4C is a cross-sectional view of a portion of the dispensing assembly 220 in the first configuration.

The dispensing assembly 220 includes a cone magazine 221, an end effector subassembly 230, a support 227, and an actuator 228. As shown in FIG. 4A, the dispensing assembly 220 includes a lid 227A that can provide support for the cone magazine relative to the support 227. The dispensing assembly 220 also includes an air hose 231, a lower shock absorber 229, and an upper shock absorber (not shown). The cone magazine 221 includes an upper support member 222, a lower support member 224, and a set of tubes 226. The upper support member 222 defines a set of through-holes 223 and the lower support member 224 defines a set of through-holes 224. Each tube 226 is aligned with an upper through-hole 223 and a lower through-hole 224 such that a stack of cones 202 can be inserted through an upper through-hole 223, travel through a lumen of a tube 226, and exit the cone magazine 221 through a lower through-hole 224. The upper through-holes 224, the tubes 226, and the lower through-holes 224 can have an arrangement corresponding to the through-holes 213 in the upper member 214 of the pod assembly 210 (e.g., in a circular pattern) such that a central axis of each of the tubes 226 can be aligned with a central axis of an elongated member 216 of the pod assembly 210 when the pod assembly 210 is disposed underneath the cone magazine 221. Each of the lower through-holes 224 can have an inner-most diameter that is less than an outermost diameter of the cones 202 such that a cone 202 can be seated within a through-hole 224 until a force sufficient to cause a portion of the cone 202 to bend and be pulled through the through-hole 224 is applied to the cone 202.

The end effector subassembly 230 includes a housing 231, an inner inflation bladder 232 and an outer inflation bladder 233. The housing 231 includes an upper portion 231A and a lower portion 231B. The upper portion 231A defines a set of through-holes 235 and the lower portion 231B defines a set of through-holes 234. The upper portion 231A can be coupled to the lower portion 231B such that the set of through-holes 235 is aligned with the set of through-holes 234B (e.g., each through-hole 235 is coaxially aligned with a through-hole 234) and such that a circular interior space is defined between the upper portion 231A and the lower portion 231B.

The inner inflation bladder 232 and the outer inflation bladder 233 are each configured to transition between a deflated configuration and an inflated configuration. The outer inflation bladder 233 is configured to define an opening within which the inner inflation bladder 232 can be disposed. For example, the outer inflation bladder 233 can have a circular shape defining a circular interior opening, and the inner inflation bladder 233 can have a circular outer profile, the circular outer profile having an outermost diameter smaller than the inner diameter of the outer inflation bladder 233. Each of the inner inflation bladder 232 and the outer inflation bladder 233 can be formed of, for example, a tubular member. Each tubular member can be formed in a circular shape.

In the deflated configuration, the distance between the inner inflation bladder 232 and the outer inflation bladder 233 is a first distance. In the inflated configuration, the distance between the inner inflation bladder and the outer inflation bladder is a second distance. The second distance is less than the first distance and less than the outer diameter of a cone 202. The inner inflation bladder 232 and the outer inflation bladder 233 can be fluidically coupled to an inflation device (e.g., a pump) via the air hose 231. The inflation device can transition the inner inflation bladder 232 and the outer inflation bladder 233 between the deflated configuration and the inflated configuration by feeding fluid (e.g., air) into the inner inflation bladder 232 and the outer inflation bladder 233 and drawing fluid out of the inner inflation bladder 232 and the outer inflation bladder 233 via the air hose 231.

As shown in FIGS. 4A and 4B, the end effector subassembly 230 can be movably mounted to the support 227 via the actuator 228. The actuator 228 can be, for example, a linear actuator. FIG. 4A shows the end effector subassembly 230 in a first configuration relative to the cone magazine 221 in which the end effector subassembly 230 is disposed a distance from the cone magazine 221. FIG. 4B shows the end effector subassembly 230 in a second configuration relative to the cone magazine 221 in which the end effector subassembly 230 is disposed adjacent to the lower support member 224 of the cone magazine 221. The actuator 228 can repeatedly transition (e.g., translate) the end effector subassembly 230 between the first configuration and the second configuration via raising and lowering the end effector subassembly 230.

The lower shock absorber 229 and the upper shock absorber can be positioned and configured to dampen the force of the end effector subassembly 230 as the end effector subassembly 230 reaches the ends of its travel path. For example, the lower shock absorber 229 can be mounted to the support 227 at a location near the bottom of the travel path of the end effector subassembly 230 and the upper shock absorber can be mounted to the support 227 at a location near the top of the travel path of the end effector subassembly 230. The lower shock absorber 229 and the upper shock absorber can be disposed such that the end effector subassembly 230 contacts the lower shock absorber 229 as the end effector subassembly 230 transitions to the first configuration and such that the end effector subassembly 230 contacts the upper shock absorber as the end effector subassembly transitions to the second configuration.

In use, the cone magazine 221 can be loaded with cones 202 via the through-holes 235 in the upper portion 231A. In some implementations, the cones 202 can be arranged as sets of stacked cones 202 (e.g., stacks of ten cones each), and each stack can be loaded into a tube 226. Due to the outer diameter of each cone being larger than an innermost diameter of the through-holes 225 in the lower support member 224 and/or the through-holes 235 in the upper portion 231A, the cones 202 are retained within the cone magazine 221 until a force is applied to the bottommost cone 202 (e.g., the cone 202 retained in contact with the lower portion 231B) to pull the bottommost cone 202 through the lower portion 231B. The cone 202 vertically adjacent to the cone 202 that was previously retained in contact with the lower portion 231B can then engage with the lower support member 224 and/or the lower portion 231B and be retained.

The end effector assembly 230 can be raised to the second configuration by the actuator 228 such that the upper portion 231A of the housing 231 is adjacent the lower support member 224 and the bottommost cone 202 in each stack of cones 202 in the cone magazine 221 is partially disposed within the interior of the housing 231 and between the inner inflation bladder 232 and the outer inflation bladder 233. The inner inflation bladder 232 and the outer inflation bladder 233 can be inflated to engage with and grip the cones 202 that are partially disposed between the inner inflation bladder 232 and the outer inflation bladder 233. With the inner inflation bladder 232 and the outer inflation bladder 233 gripping the cones 202, the actuator 228 can translate the end effector assembly 230 away from the lower support member 224 to the second configuration. Due to the engagement between the inner inflation bladder 232, the outer inflation bladder 233, and the cones 202, the set of bottommost cones 202 can be separated from the remaining cones 202 in each stack of cones 202. Upon translating each cone 202 of the set of bottommost cones 202 through the lower support member 224, each stack of cones can translate toward the lower support member 224 and the next cone 202 in each stack can project through the through-holes 235 and engage with the lower support member 224 and/or the upper portion 231A.

With the pod assembly 210 arranged underneath the end effector assembly 230 and the end effector assembly 230 in the first configuration, the inner inflation bladder 232 and the outer inflation bladder can be deflated such that the set of cones 202 can be released and each cone 202 of the set of cones 202 can drop into an elongated member 216 of the pod assembly 210. FIG. 4C shows a cross-sectional view of a portion of the dispensing assembly 220 in a configuration in which the inner inflation bladder 232 and the outer inflation bladder 233 have been deflated after gripping and translating a ring of the bottommost cones 202 away from the lower support member 224 but before the bottommost cones 202 have dropped (due to gravity). Each cone 202 can seat in the upper portion 217 of each elongated member 216.

After each elongated member 216 of the pod assembly 210 has received a cone 202 from the dispensing assembly 220, the pod assembly 210 can be moved to the filling assembly 240. For example, the first portion 204A of the conveyor assembly 204 can translate the pod assembly 210 to the filling assembly 240. Specifically, the first portion 204A can translate the pod assembly 210 to vertically align with a rotary indexer 282 of the filling assembly 240. In some embodiments, the first portion 204A, the second portion 204B, and the third portion 240C of the conveyor assembly 204 can be constantly operating (e.g., the belts of each portion can be constantly moving) during operation of the system 200. The conveyor assembly 204 can include one or more conveyor stops associated with each of the assemblies of the system 200 (e.g., the dispensing assembly 220, the filling assembly 240, the spinning assembly 260, and the twisting/unloading assembly 280) that can actuate and stop the pod assembly 210 in a particular position along the conveyor assembly 204 that is aligned with a particular assembly or portion of an assembly of the system 200. For example, a conveyor stop can stop the pod assembly 210 when it reaches a position aligned with the rotary indexer 282 of the filling assembly 240, even though the first portion 204A on which the pod assembly 210 is disposed may continue to operate.

FIGS. 5A-5D are various views of the filling assembly 240. FIG. 5A is a perspective view, FIG. 5B is a side view, and FIG. 5C is a top view, respectively, of the filling assembly 240. FIG. 5D is a perspective view of a portion of the filling assembly 240.

The filling assembly 240 includes a support 241, a hopper 245 (also referred to as a “receptacle”), a trench 247, a weigh basket 251, and a funnel 248. The hopper 245 and the trench 247 are mounted on a hopper support 246. The hopper support 246 is mounted to the support 241. The trench 247 has a first end mounted to the hopper support 246 underneath the hopper 246 and a second end disposed above the weigh basket 251. The trench 247 can be inclined such that the first end is higher than the second end. The funnel 248 is mounted to a funnel support 249, which can be mounted to the support 241. The weigh basket 251 can be rotatably mounted to a weigh basket support 252, which can be mounted to the support 241. In some implementations, the weigh basket support 252 can define a recess through which a portion of the funnel support 249 can extend.

The filling assembly 240 can also include the rotary indexer 242, a linear actuator 243, and a motor 244 (e.g., a servo motor or any other suitable motor). The rotary indexer 242 can be coupled to the bottom of the pod assembly 210 such that the rotary indexer 242 can control the rotation of the pod assembly 210 relative to the funnel 248. For example, the rotary indexer 242 can include a dial plate from which two locating pins extend. The locating pins can be configured to engage with alignment holes defined in the bottom surface of the base member 212 of the pod assembly 210 such that rotation of the dial plate of the rotary indexer 242 causes corresponding rotation of the pod assembly 210. The rotary indexer 242 can rotate the pod assembly 210 such that the through-holes 213 in the upper member 214 are aligned with an outlet of the funnel 248 sequentially. The motor 244 can raise and lower the linear actuator 243 a predetermined distance to raise and lower the rotary indexer 242 relative to the funnel 248. For example, the linear actuator 243 can lower and raise the rotary indexer 242 between each partial rotation of the rotary indexer to align an adjacent through-hole 213 of the upper member 214 with the funnel 248 during a filling sequence. In some implementations, the linear actuator 243 can raise the pod assembly 210 sufficiently high such that an outlet of the funnel 248 is disposed within each elongated member 216 of the pod assembly 210 during the filling of the cone 202 within each elongated member 216. Additionally, the linear actuator 243 can raise the rotary indexer 242 when the pod assembly 210 is initially moved by the first portion 204A of the conveyor assembly 204 to align with the filling assembly 240. When the pod assembly 210 is vertically aligned with the rotary indexer 242, the linear actuator 243 can raise the rotary indexer 242 between two belts of the conveyor assembly 204 to engage with the pod assembly 210 and lift the pod assembly 210 off of the conveyor assembly 204.

The filling assembly 240 includes a vibration device 250. The vibration device 250 can be mounted to the funnel support 249 such that the vibration device 250 can apply vibration to the funnel 248 via the funnel support 249. The funnel support 249 can include a lower member, an upper member disposed parallel to the lower member and supporting the funnel 248, and two side members disposed between the lower member and the upper member and coupling the lower member to the upper member. The two side members can be disposed such that they are parallel to each other and at a non-zero angle relative to the lower member and the upper member. The vibration device 250 can be coupled to (e.g., suspended from) the upper member. A second vibration device (not shown) can be coupled to the hopper 245, the hopper support 246, and/or the trench 247 such that the second vibration device can vibrate the trench 247 sufficiently to move material down the trench toward the weigh basket 251.

The filling assembly 240 also includes a first load cell 253A and a second load cell 253B coupled to the weigh basket 251 and a weigh basket actuator (not shown). The first load cell 253A and the second load cell 253B can determine the weight of filler material disposed on the weigh basket 251. When the first load cell 253A and the second load cell 253B determine that the weight of the filler material in the weigh basket 251 is at or over a threshold weight, the weigh basket actuator can cause the weigh basket 251 to rotate relative to the weigh basket support 252 and tip the filler material such that it falls into the funnel 248.

The filling assembly 240 can include a vision system 255 mounted to a vision system support 256. The filling assembly 240 can also include an air nozzle 257 mounted to an air nozzle support 258. The air nozzle 257 can be mounted directly to the support 241 or can be mounted to the vision system support 256 that is mounted to the support 241. The vision system 255 and the air nozzle 257 are disposed such that, when the funnel 249 is aligned with a first through-hole 213 in the upper member 214 (e.g., through-hole 213A), the vision system 255 can be aligned with a second through-hole 213 (e.g., through-hole 213B), and the air nozzle 257 can be aligned with a third through-hole 213 (e.g., through-hole 213C). The air nozzle 257 can direct air into an empty cone 202 disposed within the pod assembly 210 via the third through-hole 213 to securely seat that empty cone 202 within a respective elongated member 216. The rotary indexer 242 can then rotate the pod assembly 210 such that the third through-hole 213C is rotated to the position of the second through-hole 213B and aligned with the vision system 255. The vision system 255 can view the interior of the respective elongated member 216 and verify that an empty cone 202 is properly seated within the elongated member 216. For example, in some embodiments, the vision system 255 can include a camera or other imager, a light source, a processor, image processing software, and/or an output device and can perform image analysis of the interior of the respective elongated member 216 to determine if an empty cone 202 is disposed in the interior of the respective elongated member 216 and/or properly seated within the interior of the respective elongated member 216. The rotary indexer 242 can rotate the pod assembly 210 such that the second through-hole 213B is rotated to the position of the first through-hole 213A in FIG. 5D and aligned with the funnel 249 for filling. If the vision system 255 determines that the elongated member 216 contains a properly seated empty cone 202, the vision system 255 can indicate to the electronic control unit 205 that the elongated member 216 is to be filled with filler material when aligned with the funnel 249. If the vision system 255 determines that the elongated member 216 does not include a properly seated empty cone 202 (e.g., no cone is disposed in the elongated member 216 or the cone is not properly oriented in the elongated member 216 to receive filler material), the vision system 255 can indicate to the electronic control unit 205 that the elongated member 216 is to be skipped without being filled with filler material, and the rotary indexer 242 can rotate the pod assembly 210 such that another elongated member 216 is aligned with the funnel 249.

In use, the hopper 245 can be filled with filler material (e.g., smoking herbs). The hopper 245 can have a first open end and a second open end, the second open end being smaller than the first open end. The hopper 245 can be filled with filler material via the first open end. The hopper 245 can include a metering blade disposed within the interior of the hopper 245 and configured to rotate to control the flow of filler material from the second open end of the hopper 245. The filler material can flow from the second open end and onto the trench 247. The trench 247 can vibrate under control of a second vibrating device (discussed above). The filler material can travel along the vibrating trench 247 from the first end to the second end. The vibrations can encourage the filler material to move from the first end of the vibrating trench 247 to the second end of the vibrating trench 247 and off the second end of the vibrating trench 247 such that the filler material falls onto the weigh basket 251. When the first load cell 253A and the second load cell 253B determine that the weight of the filler material in the weigh basket 251 is at or over a threshold weight, the first load cell 253A and the second load cell 253B can send an indication to the electronic control unit 205 that the weight is at or over the threshold weight, and the electronic control unit 205 can cause the vibration of the vibrating trench 247 to cease. The weigh basket actuator (e.g., under the control of the electronic control unit 205) can tip the weigh basket 251 such that the filler material falls into the funnel 248. The filler material can then travel through the funnel 248 (under the assistance of vibrations from the vibration device 250), through a through-hole 213 in the upper member 214 of the pod assembly 210 aligned with the funnel 248, and into a cone 202 disposed in an elongated member 216. The pod assembly 210 can then be lowered and rotated to align an adjacent cone 202 with the funnel 248 for filling.

After each cone 202 has been filled with filler material by the filling assembly 240, the linear actuator 243 can lower the rotary indexer 242 and the pod assembly 210 onto the first portion 204A of the conveyor assembly 240. Prior to the linear actuator 243 lowering the pod assembly 210 onto the first portion 204A, the rotary indexer 242 can orient the pod assembly 210 such that the dowel 211 is aligned with respect to the direction of movement of the first portion 204A such that the latching component 218 is oriented to be latched with the spinning assembly 260 as described below (e.g., the dowel 211 can be aligned parallel to the direction of movement). The first portion 204A can translate the pod assembly 210 to the spinning assembly 260. Specifically, the first portion 204A can translate the pod assembly 210 to vertically align with a first linear actuator 209A (also referred to as a first vertical actuator) of the filling assembly 240.

FIGS. 6A-6C and 7A-7C are various views of the spinning assembly 260. FIG. 6A is a perspective view, FIG. 6B is a side view, and FIG. 6C is a top view, respectively, of the spinning assembly 260. FIGS. 7A and 7B are side views of a pod assembly 210 and a portion of the spinning assembly 260 in an unlatched configuration and a latched configuration, respectively. FIG. 7C is a perspective view of a portion of the spinning assembly 260 in the unlatched configuration.

The spinning assembly 260 includes an upper member 263 (also referred to as a spin arm support), a set of spin arms 264, a support column 261, a pair of latch actuator assemblies 279A, 279B, and a motor 262 (e.g., a servo motor or any other suitable motor). Each of the spin arms 264 includes a latch assembly 271 coupled to the bottom side of the spin arm 264 and configured to transition between an unlatched and a latched configuration. The spin arm 264 and/or the latch assembly 271 can retain the dowel 211 of the pod assembly 210 in the latched configuration. The spinning assembly 260 also includes the first linear actuator 209A and a second linear actuator 209B (also referred to as a second vertical actuator).

Each spin arm 264 has a first end coupled to the upper member 263 and a second free end opposite the first end. The free end of each spin arm 264 includes a first extension member 266 and a second extension member 267. An opening 265 (also referred to as a gap) is defined between the first extension member 266 and the second extension member 267. The opening 265 is unbounded at the free end of the spin arm 264 such that, when a pod assembly 210 is latched to the spin arm 264, an extension member 219 of the pod assembly 210 can rotate relative to the free end of the spin arm 264 from a first position in which the extension member 219 of the pod assembly 210 is perpendicular to a central axis of the spin arm 264 and a second position in which the extension member 219 of the pod assembly 210 is non-perpendicular (e.g., coaxial) with the central axis of the spin arm 264.

As shown in FIG. 7C, the bottom side of each spin arm 264 defines a recess to receive the dowel 211 of the pod assembly 210. The recess can include a first portion 269 (also referred to as a first recessed portion) defined in the first extension member 266 and a second portion 270 (also referred to as a second recessed portion) defined in the second extension member 267. Thus, the first recess portion 269 can be discrete from the second recess portion 270 (e.g., separated by the opening 265). The first portion 269 and the second portion 270 are coaxial and intersect the opening 265. The first portion 269 and the second portion 270 are configured to receive a dowel 211 of a pod assembly 210 such that a first portion and/or a first end of the dowel 211 can rotate within the first potion 269 and a second portion and/or a second end of the dowel 211 can rotate within the second portion 270. For example, the first portion 269 and the second portion 270 can have a larger diameter or outermost lateral extent than an outer diameter of the dowel 211 such that the dowel can rotate within the recess formed by the first portion 269 and the second portion 270.

Each latch assembly 271 includes a latching member 272, a second member 275 (also referred to as plate member or a plate), a pair of connecting members 277, a pair of supporting elements 278, a pair of mounting screws 238, and a pair of springs (not shown). Each of the springs of the pair of springs are disposed between a supporting element 278 and the latching member 272. Each of the pair of connecting members 277 can be formed as an elongated member having a first end coupled to the latching member 272 and a second end coupled to the second member 275. In some embodiments, as shown in FIG. 7C, the second member 275 can have a T-shape. Each latch assembly 271 can be mounted to the underside of a spin arm 264 via the supporting element 278 and the pair of mounting screws 238A, 238B. Each of the supporting elements 278 can define a through-hole within which a respective connecting member 277 can slide during the transition of the latch assembly 271 between the latched and unlatched configurations.

Each latching member 272 can include a first opening 236 configured to receive a portion of the extension member 219 of the pod assembly 210. The first opening 236 can have a shape that is substantially similar to the shape of the opening 265 in each of the spin arms 264 such that, when the latching member 272 is in the latched configuration, the first opening 236 and the opening 265 can align to cumulatively define an opening. For example, the first opening 236 is unbounded at a free end of the latching member 272 such that the extension member 219 of the pod assembly 210 can be received into the first opening 236 when the latching member 272 is translated from the unlatched configuration to the unlatched configuration and such that the extension member 219 of the pod assembly 210 can be pivoted in and out of the first opening 236 when the latching member 272 is in the latched configuration.

The latching member 272 can also include a second opening 237A and a third opening 237B. A first mounting screw 238A of the pair of mounting screws 238 can be coupled to the spin arm 264 and received in the second opening 237A and a second mounting screw 238B of the pair of mounting screws 238 can be couple to the spin arm 264 and received in the third opening 237B such that the mounting screws mount the latching member 272 to the spin arm 264 and such that the latching member 272 can be translated relative to the mounting screws 238A, 238B and the spin arm 264 such that the mounting screws 238A, 238B slide within the second opening 237A and the third opening 237B, respectively, of the latching member 272.

The latching assembly 271 can be transitioned between a latched configuration in which the latching member 272 is in a latched position obstructing the first portion 269 and the second portion 270 of the recess of the spin arm 264 (e.g., forming a boundary of the first portion 269 and the second portion 270) and an unlatched configuration in which the latching member 272 is in an unlatched position and does not obstruct the first portion 269 and the second portion 270 such that a latching component can be inserted into and/or removed from the first portion 269 and the second portion 270. In some embodiments, the latching assembly 271 can be biased toward the latched configuration (shown, e.g., in FIG. 7B). For example, the pair of springs disposed between the pair of supporting elements 278 and the latching member 272 can apply a force on the latching member 272 such that the latching member 272 is biased toward the latched configuration (away from the pair of supporting elements 278).

Each of the pair of latch actuator assemblies 279A and 279B of the spinning assembly 260 include a support 268, a linear actuator 273, a first plate 274, and a pusher 276. The linear actuator 273 can be, for example, a pneumatic actuator. The first plate 274 can be coupled to the pusher 276 such that the pusher 276 can translate the first plate 274. The linear actuator 273 is disposed on an upper surface of the support 268 and is configured to extend and retract the pusher 276 and the first plate 274. When a spin arm 264 is aligned with the latch actuator assembly 279A, for example, the first plate 274 can be retracted by the pusher 276 of the linear actuator 273 to pull the second plate 275 against the force of the pair of springs toward the first end of the spin arm 264, transitioning the latch assembly 271 from the latched configuration to the unlatched configuration. To transition the latch assembly 271 from the unlatched configuration to the latched configuration, the linear actuator 273 can extend the pusher 276 such that the pusher 276 translates the first plate 274 toward the free end of the spin arm 264. Due to the latch assembly 271 being biased toward the latched configuration, the latch assembly 271 will transition to the latched configuration in the absence of the force of the first plate 274 on the second plate 275 opposite the spring force, as shown in FIG. 7B. Thus, the pod assembly 210 can be engaged with a spin arm 264 by inserting the dowel 211 of the pod assembly 210 into the first portion 269 and the second portion 270 of the recess of the spin arm 264 when the latch assembly 271 of the spin arm is in the unlatched configuration, and the latch assembly 271 can transition to the latched configuration to retain the dowel 211 between the latching member 272 and the free end of the spin arm 264.

The support column 261, the upper member 263, and the set of spin arms 264 can be arranged such that rotation of the support column 261 causes corresponding rotational movement of the spin arms 264 via the upper member 263. Thus, when the motor 262 is actuated to rotate the support column 261, the spin arms 264 rotate under the control of the motor 262. The latch actuator assemblies 279A and 279B, the first linear actuator 209A, and the second linear actuator 209B remain stationary such that the support column 261, upper member 263, and spin arms 264 rotate relative to the latch actuator assemblies 279A and 279B, the first linear actuator 209A, and the second linear actuator 209B.

Each of the first linear actuator 209A and the second linear actuator 209B can engage with the bottom surface of a pod assembly 210 and control the vertical position of the pod assembly 210. For example, the first linear actuator 209A can raise the pod assembly 210 (e.g., from the first portion 204A of the conveyor belt 204) to engage with a spin arm 264. The second linear actuator 209A can engage with the pod assembly 210 prior to disengagement of the pod assembly 210 from the spin arm 264 and lower the pod assembly 210 (e.g., onto the second portion 204B of the conveyor assembly 204) after the spin arm 264 is disengaged from the pod assembly 210.

Each spin arm 264 can engage and retain a pod assembly 210 such that the pod assembly 210 is rotatable relative to the spin arm 264. For example, the pod assembly 210 can swing freely relative to the spinning assembly 260 when latched to the spin arm 264. The pod assembly 210 (including the elongated members 216) can be vertically-oriented until the spinning assembly 260 begins a spinning operation (e.g., the motor 262 begins rotating the support column 261, upper member 263, and spin arms 264). When the spin arms 264 are spinning, the pod assembly 210 can be non-vertically oriented (e.g., horizontally-oriented or at a non-perpendicular angle relative to a central axis of the spin arm 264). For example, the spinning assembly 260 can spin the pod assembly 210 such that the pod assembly 210 rotates from the position of the pod assembly 210B in FIGS. 6A-6C in which the extension member 219 of the pod assembly 210B is perpendicular to a central axis of the spin arm 264 from which the pod assembly 210B is suspended to the position of the pod assembly 210A in FIGS. 6A-6C in which the extension member 219 of the pod assembly 210A is non-perpendicular to (e.g., coaxial with) the central axis of the spin arm 264. The contents of the pod assembly 210 (e.g., the filler material within the cones 202 disposed within the elongated members 216) can be compressed toward the closed end of each cone 202 within the pod assembly 210 as the pod assembly 210 is spun by the spinning assembly 260, as the spinning assembly 260 functions as a centrifuge such that an outward force is applied on the filler material toward the closed end of each cone 202.

The spinning assembly 260 can have a loading stage of operation, a compression stage of operation, and an unloading stage of operation. During the loading stage of operation, the spinning assembly 260 can be configured to engage with a pod assembly 210 on a first side of the spinning assembly 260. In some implementations, each spin arm 264 of the spinning assembly 260 can be latched with a pod assembly 210 before initiating the compression stage of operation. For example, a first pod assembly 210 can be latched to a first spin arm 264. The motor 262 can then index the spinning assembly 260 such that a second spin arm 264 (e.g., the next adjacent spin arm 264) is aligned with the first linear actuator 209A, and a second pod assembly 210 can be latched to the second spin arm 264. This process can repeat until a pod assembly 210 is latched to each spin arm 264 (e.g., the spinning assembly 260 is fully loaded). In some implementations, fewer than all of the spin arms 264 of a spinning assembly 260 can be engaged with a pod assembly 210 before initiating the compression stage of operation (e.g., the spinning assembly 260 can be partially loaded). Although the spinning assembly 260 is shown as including a set of six spin arms 264, the spinning assembly 260 can include any suitable number of spin arms 264.

During the compression stage of operation, the support column 261, the upper member 263, and the spin arms 264 can be rotated by the motor 262 at a speed sufficiently high to cause the filler material within the cones 202 disposed in each pod assembly 210 to compress a desired amount. For example, the spin speed and/or spin duration may be selected such that the filler material is compressed to have a length within a target range and/or a density within a target range. The spin speed and spin duration may depend, at least in part, on the physical properties (e.g., moisture content and/or density) of the filler material in the cones 202 disposed in each of the pod assemblies 210. In some implementations, for example, the pod assemblies 210 may be rotated by the spinning assembly 260 at a rate of 900 revolutions per minute or higher. The spin speed and the spin duration may be pre-programmed, for example, via a user interface coupled or included in an electronic control unit that controls operation of the system 100. In some embodiments, during operation of the spinning assembly 260 and/or operation of the remainder of the system 200, the filler material can be compressed within the cones 202 without using a vibration device to vibrate the cones themselves to settle or compress the filler material within the cones 202.

During the unloading stage of operation, the spinning assembly 260 can be configured to disengage with the pod assembly 210 on a second side of the spinning assembly 260 such that the spinning assembly 260 can transfer each pod assembly 210 from the first portion 204A of the conveyor assembly 204 to the second portion 204B of the conveyor assembly 204 during operation of the spinning assembly 260. For example, a first pod assembly 210 can be aligned with the second linear actuator 209B coupled to a first spin arm 264. The second linear actuator 209B can extend vertically to engage with an underside of a base member 212 of the pod assembly 210. The second latch actuator assembly 279B can actuate the latch assembly 271 of the first spin arm 264 to transition the latch assembly 271 from the latched configuration to the unlatched configuration. When the latch assembly 271 is in the unlatched configuration, the second linear actuator 209B can translate downward such that the first pod assembly 210 is separated from the first spin arm 264 and is lowered onto the second portion 204A of the conveyor assembly 204. The spinning assembly 260 can then index such that a second spin arm 264 is aligned with the second linear actuator 209B and the process can repeat until all of the pod assemblies 210 have been unloaded onto the second portion 204A of the conveyor assembly 204.

In some embodiments, rather than including a pair of connecting members 277 and a pair of supporting elements 278, each latch assembly 271 can include only one connecting member and one supporting element 278. In some embodiments, one or more springs can be included in any suitable location of the latching assembly 271 to bias the latching member 272 to the latched position. In some embodiments, rather than the latching member 272 being biased toward the latched position, one or both of the latch actuator assemblies 279A and 279B can be configured to move the latching member 272 between the latched position and the unlatched position (e.g., by including an actuator configured to engaged with both sides of the plate 275 to advance and retract the plate 275). In some embodiments, rather than the latching member 272 being monolithic and having a pronged shape such that a first portion of the latching member 272 can obstruct the first recess portion 269 and a second portion of the latching member 272 can obstruct the second recess portion 270, the latching assembly 271 can include two distinct latching members for obstructing the first recess portion 269 and the second recess portion 270, respectively. In some embodiments, rather than the pod assemblies 210 each including an extension member 219 and a dowel 211 as described above, the extension member 219 can be coupled to any suitable anchoring shape, such as a spherical or ovoid ball, having a diameter larger than a diameter of the extension member. In such embodiments, each swing arm 264 can define a complementary recess within which the anchoring shape can rotate and be retained by the latching member 272. In some embodiments, rather than including the pair of latch actuator assemblies 279A and 279B, the spinning assembly 260 can include only one latch actuator assembly 279A that can be used for both loading the spinning assembly 260 with pod assemblies 210 and unloading the pod assemblies 210 from the spinning assembly 260 to return the pod assemblies to a portion of a conveyor belt of the conveyor assembly 204.

After a pod assembly 210 has been disposed on the second portion 204A of the conveyor assembly 204, the second portion 204A can translate the pod assembly 210 to the twisting/unloading assembly 280. Specifically, the second portion 204A can translate the pod assembly 210 to vertically align with a rotary indexer 282 of the twisting/unloading assembly 210.

FIGS. 8A-8D are various views of the twisting/unloading assembly 280. FIG. 8A is a perspective view, FIG. 8B is a front view, and FIG. 8C is a top view, respectively, of the twisting/unloading assembly 280. FIG. 8D is a perspective view of a portion of the twisting/unloading assembly 280.

The twisting/unloading assembly 280 can include a support structure 281, a twisting subassembly 285, and a gripping subassembly 292. The twisting/unloading assembly 280 can also include a displacement sensor support 283, a first laser displacement sensor 284A, and a second laser displacement sensor 284B. Additionally, the twisting/unloading assembly 280 can include a tamping member 286, a tamping actuator 287, a rotary indexer 282, a pod assembly linear actuator (not shown), and a cone displacement actuator 299. The rotary indexer 282 can be the same or similar in structure and/or function to the rotary indexer 242 described above with respect to the filling assembly 240. The rotary indexer 282 can include or be coupled to the pod assembly linear actuator such that the pod assembly linear actuator can raise and lower the pod assembly 210 relative to the second portion 204A of the conveyor assembly 204 and the rotary indexer 282 can rotate the pod assembly 210 relative to the twisting subassembly 285 and the gripping subassembly 292. Furthermore, the twisting/unloading assembly 280 can include a chute 297, a chute actuator 297A, and a receptacle 298.

The first laser displacement sensor 284A, the second laser displacement sensor 284B, and the tamping actuator 287 can be coupled to the support structure 281 via the displacement sensor support 283 such that the first laser displacement sensor 284A, the tamping actuator 287, and the second laser displacement sensor 284B can be aligned with cones 202 disposed in sequentially adjacent elongated members 216 of the pod assembly 210. In some implementations, the tamping actuator 287 can include a pneumatic actuator.

The first laser displacement sensor 284B can determine if the filler material inside of a cone 202 was adequately packed by the spinning assembly 260 by determining if the height of the filler material inside the cone is within a threshold range or below a threshold height. If the height of the filler material inside the cone 202 is above the threshold range or the threshold height, the tamping actuator 287 can be actuated to advance the tamping member 286 into the cone 202 to tamp the filler material when the cone 202 is indexed below the tamping member 286. The second laser displacement sensor 284B can then determine if the filler material inside of the cone was adequately packed by the tamping member 286 by determining if the height of the filler material inside the cone is within the threshold range or below the threshold height. If the first laser displacement sensor 284A determines that the height of the filler material inside the cone 202 is within the threshold range or below the threshold height, the displacement data from the first laser displacement sensor 284A can be used to set a gripping height of the twisting subassembly for the particular cone 202. If the first laser displacement sensor 284B determines that the height of the filler material inside the cone 202 is above the threshold range or above the threshold height, the tamping actuator 286 and the tamping member 286 can tamp the filler material within the cone 202, and the displacement data associated with the tamped cone 202 from the second laser displacement sensor 284B can be used to set a gripping height of the gripping subassembly 292 for the particular cone 202. In some implementations, the tamping actuator 286 and the tamping member 286 can be used to tamp the filler material in every cone 202 such that the top of the filler material in each cone 202 is leveled, regardless of the displacement data sensed by the first laser displacement sensor 284A.

The cone displacement actuator 299 is disposed such that the cone displacement actuator 299 (or an elongated member coupled to the cone displacement actuator 299) can extend through a through-hole in a base member 212 of the pod assembly 210, contact the bottom of a cone 202 within an elongated member 216, and translate the cone 202 vertically upward such that an upper portion of the cone 202 partially projects from a through-hole 213 in an upper member 214 of the pod assembly 210. The cone displacement actuator 299 can translate the cone 202 far enough out of the pod assembly 210 such that the upper portion of the cone 202 is disposed between a first gripper 294A and a second gripper 294B of the gripping subassembly 292.

The gripping subassembly 292 also includes gripper actuators 293, a gripper plate 295, and a linear actuator 296. The first gripper 294A and the second gripper 294B can extend from the gripper plate 295. The distance between the first gripper 294A and the second gripper 294B can be adjusted by the gripper actuators 293. When a portion of a cone 202 is lifted from the pod assembly 210 and disposed between the first gripper 294A and the second gripper 294B, the gripper actuators 293 can transition from an initial configuration to a gripping configuration in which the first gripper 294A and the second gripper 294B are closer together than in the initial configuration and sufficiently close to grip the cone 202 and support the weight of the cone 202. The linear actuator 296 can translate the gripper plate 295 horizontally between a cone twisting location, the chute 297, and the receptacle 298.

The twisting subassembly 285 includes twisting grippers 288, twisting motor 289 (e.g., a servo motor or any other suitable motor), a linear actuator 290, and a motor 291 (e.g., a servo motor or any other suitable motor). Each of the twisting grippers 288 can include a gripping portion and a gripping actuator. The gripping actuators can control the movement of the gripping portions between an open configuration and a gripping configuration. The linear actuator 290 can control the height of the twisting grippers 288 relative to the cone 202. The twisting motor 289 can spin the twisting grippers 288. Thus, when the gripping portions of the twisting grippers 288 are gripping the open end of the cone 202, the twisting motor 289 can be actuated to twist the end of the cone 202 relative to the portion of the cone 202 being gripped by the gripper subassembly 292 to close the end of the cone 202. In some implementations, the linear actuator 290, under control of the motor 291, can translate the twisting grippers 288 toward the first gripper 294A and the second gripper 294B at the same time that the twisting motor 289 rotates the twisting grippers 288 such that the end of the cone 202 is twisted down into a helical profile. Although not shown, in some implementations, a cutting mechanism can be optionally included. The cutting mechanism can be actuated to snip off excess material after the cone 202 is twisted closed (e.g., before unloading the cone 202).

After the cone 202 is twisted closed, the gripper actuators 294 of the gripper subassembly 292 can transition from the gripping configuration to the initial configuration such that the cone 202 is supported by the twisting grippers. The linear actuator 290 can cause the twisting grippers 288 to rise such that the twisting grippers 288 lift the cone 202 such that the bottom of the cone 202 is outside of the pod assembly 210. The gripper actuators 294 can then transition from the initial configuration to the gripping configuration such that the first gripper 294A and the second gripper 294B grip the cone 202 at a lower location than for the twisting step. The gripper actuators 294 can then be transitioned to the open configuration such that the cone 202 is only supported by the gripper subassembly 292. The linear actuator 296 can then translate horizontally such that the cone 202 is aligned with either the chute 297 or the receptacle 298. The gripper actuators 293 can then transition the first gripper 294A and the second gripper 294B to the initial configuration such that the cone 202 drops into either the chute 297 or the receptacle 298. For example, the twisting/unloading assembly 280 can include a visual inspection device (not shown) to determine if the cone 202 has any penetration defects (e.g., filler material penetrating the exterior of the cone). For example, in some embodiments, the visual inspection device can include a camera or other imager, a light source, a processor, image processing software, and/or an output device and can perform image analysis of the exterior of the cone 202 to determine if an the cone 202 has any penetration defects. In some embodiments, the visual inspection device can be a vision system. In some embodiments, the visual inspection device can include a laser scanner. In some embodiments, the visual inspection device can be included in or be in communication with the electronic control unit 205. In some embodiments, the visual inspection device can be disposed separately from the twisting/unloading assembly 280. If the visual inspection device determines that the cone has no penetration defects (e.g., by receiving such an indication from the visual inspection device), the electronic control unit 205 can cause the gripper subassembly 292 to align the cone 202 with the chute 297 and release the cone 202 down the chute 297. If the visual inspection device determines that the cone 202 has penetration defects (e.g., by receiving such an indication from the visual inspection device), the electronic control unit 205 can cause the gripper subassembly 292 to align the cone 202 with the receptacle and release the cone 202 into the receptacle 298 for disposal.

The cone displacement actuator 299 can translate downward such that the cone displacement actuator 299 is no longer disposed within the pod assembly 210 and the pod assembly 210 can be rotated to index a different cone 202 with the twisting subassembly 285. The cone displacement actuator 299 can be translated downwardly at any suitable time prior to rotation of the pod assembly 210, such as after the gripping subassembly 292 grips the cone 202 prior to the twisting subassembly 285 twisting the cone 202, after the cone 202 is twisting closed, or after the cone 202 is translated completely out of the pod assembly 210.

The rotary indexer 282 can rotate the pod assembly 210 such that the next cone 202 is aligned with the cone displacement actuator 299 and the twisting subassembly 285 and repeat the twisting and unloading process until each cone 202 has been removed from the pod assembly 210. After all of the cones 202 have been removed from the pod assembly 210, the pod assembly 210 can be lowered back into contact with the second portion 204B of the conveyor assembly 204 (e.g., via the pod assembly linear actuator lowering the pod assembly 210 relative to the second portion 204B). The chute actuator 297A can be actuated to raise the chute 297 out of the path of the pod assembly 210 along the second portion 204B of the conveyor assembly 204.

The pod assembly 210 can then be translated to the third portion 204C of the conveyor assembly 204. The third portion 204C can translate the pod assembly 210 to the first portion 204A of the conveyor assembly 204. The first portion 204A can translate the pod assembly 210 to the dispensing assembly 220, and the process of dispensing, filling, spinning, twisting, and unloading can restart with respect to the particular pod assembly 210. Furthermore, any suitable number of pod assemblies 210 can be moving through the stages of operation of the system 200 simultaneously such that, for example, when a first pod assembly 210 is being unloaded by the twisting/unloading assembly 280, a second pod assembly 210 can be being filled by the filling assembly 240, and various other pod assemblies 210 can be located at any other suitable portion of the system 200.

Although not shown, in some implementations, the system 100 can optionally include a packaging assembly. The packaging assembly can be configured to receive the filled and twisted closed cones deposited in the chute 297 and assembly the cones in a package (e.g., a box).

Although not shown, in some implementations, the system 100 can optionally include a grinding assembly. The grinding assembly can be disposed upstream of the filling assembly such that ground filler material can be deposited from the grinding assembly into the hopper 245 of the filling assembly 240. In some embodiments, the system 200 can include only one or more of the dispensing assembly 220, the grinding assembly, the filling assembly 240, the spinning assembly 260, and/or the twisting/unloading assembly 280.

The system 200 can be controlled by an electronic control unit (not shown). The electronic control unit can be the same or similar in structure and/or function to the electronic control unit 105 described above with respect to the system 100. For example, each of the dispensing assembly 220, the filling assembly 240, the spinning assembly 260, and the twisting/unloading assembly 280 can be controlled by the electronic control unit. Specifically, the electronic control unit can control the actuation of all of the various actuators and indexers described herein. The electronic control unit can also control the operation of all of the sensors included the system 200. Furthermore, the electronic control unit can control the conveyor assembly 204 such that the pod assemblies 210 are moved to the desired locations at the proper times.

FIG. 9 is a flow chart of a method 300. The method 300 can be performed by any of the systems described herein and can include operational steps described with respect to any of the systems described herein, such as the system 100 or the system 200. The method 300 includes dispensing, at 302, a set of cones into a pod assembly including a set of elongated members each defining an interior within which a cone from the set of cones can be seated. For example, the pod assembly can define a set of receiving apertures (also referred to herein as through-holes) and each elongated member can be aligned with a receiving aperture of the set of receiving apertures. In some implementations, the set of cones are dispensed into the pod assembly by a dispensing assembly, the dispensing assembly including a cone magazine and an end effector assembly. The end effector assembly is configured to separate the set of cones from remaining cones in the cone magazine and release the set of cones into the receiving apertures of the pod assembly. Although the method 300 is described with respect to a set of cones, in some embodiments any suitable smoking article container, such as any of the smoking article containers described herein, can be dispensed, filled, spun, etc. according to the method 300.

At 304, each cone in the pod assembly can be sequentially filled with a filler material having a weight above a threshold weight. In some implementations, the set of cones can be filled by a filling assembly including a hopper, a trench, a weigh basket, and a funnel. The trench can deliver the filler material from the hopper to the weigh basket. When the weight of the filler material in the weigh basket is above a threshold weight, the weigh basket can pivot to pour the filler material in the weigh basket through the funnel and into a cone. The pod assembly can be rotated by a rotary indexer to align each cone with the funnel to be filled sequentially.

At 306, the pod assembly can be spun such that the pod assembly rotates relative to a spin arm to which the pod assembly is rotatably coupled from a vertical orientation to a non-vertical orientation (e.g., a horizontal orientation) and the filler material disposed within each cone is compressed toward a closed end of each cone. In some implementations, the pod assembly can be spun by a spinning assembly. The pod assembly can be raised by a linear actuator and latched to an arm of the spinning assembly. For example, the arm of the spinning assembly can include a latch assembly and the spinning assembly can include a latch actuator assembly configured to transition the latch assembly to an unlatched configuration for engagement with the pod assembly. After engagement, the latch assembly can return to a latched configuration and the spinning assembly can spin the pod assembly such that the pod assembly swings outward to a non-vertical orientation (e.g., a horizontal orientation) and the filler material disposed within each cone is compressed away from the arm.

At 308, an open end of each cone can be sequentially twisted closed. In some implementations, the open end of each cone can be twisted closed by a twisting assembly. Each cone can be sequentially raised relative to the pod assembly and gripped by a gripping subassembly of the twisting assembly. A twisting subassembly can then grip and twist the open end of each cone relative to the portion of the cone gripped by the gripping subassembly such that the open end of the cone is twisted closed.

At 310, each cone can be unloaded by sequentially separated from the pod assembly and deposited on a chute to an area external to the system 300. In some implementations, each cone can be deposited onto the chute by an unloading assembly. The unloading assembly can include a gripping subassembly (which may be the same or different from the gripping subassembly of a twisting subassembly used for twisting each cone) configured to translate a cone from a position axially aligned with an elongated member of the pod assembly to a position aligned with the chute. The gripping subassembly can then release the cone such that the cone falls onto the chute and slides away from the system 300 (or, optionally, into a packaging assembly). In some implementations, if the system determines that the cone is defective, the gripping subassembly can be configured to translate a cone from a position axially aligned with an elongated member of the pod assembly to a position aligned with a receptacle rather than to a position aligned with the chute. The gripping subassembly can then release the cone such that the cone falls into the receptacle.

In some embodiments, the method can include moving the pod assembly via a conveyor assembly after the dispensing and before the filling, after the filling and before the spinning, after the spinning and before the twisting, and/or after the unloading and before dispensing.

While various embodiments of the invention have been described above, it should be understood that they have been presented by way of example only, and not limitation. Where methods described above indicate certain events occurring in certain order, the ordering of certain events may be modified. Additionally, certain of the events may be performed concurrently in a parallel process when possible, as well as performed sequentially as described above.

Other subject matter contemplated by the present disclosure is set out in the following numbered embodiments:

1. A system, comprising:

a smoking article container receptacle assembly including a frame and a set of elongated members supported by the frame, each elongated member from the set of elongated members having a first end, a second end, and defining a lumen configured to receive a smoking article container, the frame including an extension member and a rod coupled to and extending laterally from the extension member;

a dispensing assembly configured to dispense a set of smoking article containers into the lumens of the elongated members of the smoking article container receptacle assembly such that a smoking article container is disposed within each lumen, each smoking article container having a first end and a second end, the first end being a closed end;

a filling assembly configured to fill each smoking article container from the set of smoking article container disposed in the smoking article container receptacle assembly with filler material; and

a spinning assembly configured to engage with the smoking article container receptacle assembly such that the smoking article container receptacle assembly is rotatably coupled to a spin arm of the spinning assembly via the rod of the smoking article container receptacle assembly, the spinning assembly configured to rotate the smoking article container receptacle assembly about an axis such that the set of elongated members of the smoking article container receptacle assembly rotate outward relative to the rod of the smoking article container receptacle assembly from a vertical orientation to a non-vertical orientation and the filler material within each smoking article container is compressed toward the first end of each smoking article container.

2. The system of embodiment 1, further comprising a twisting assembly configured to twist closed the second end of each smoking article container of the set of smoking article containers. 3. The system of embodiment 1, further comprising an unloading assembly configured to remove each smoking article container from the set of smoking article containers from the smoking article container receptacle assembly and move each smoking article container from the set of smoking article containers to a location distinct from the smoking article container receptacle assembly. 4. The system of embodiment 1, wherein each elongated member of the set of elongated members includes an upper portion and a lower portion, the upper portion having a shape that tapers toward the lower portion, the lower portion having a tubular shape. 5. The system of embodiment 1, wherein the elongated members of the set of elongated members are disposed in a circular arrangement such that a central axis of each elongated member is parallel to a central axis of each of the remaining elongated members. 6. The system of embodiment 1, further comprising a conveyor assembly configured to move the smoking article container receptacle assembly from the dispensing assembly to the filling assembly and from the filling assembly to the spinning assembly. 7. The system of embodiment 1, wherein the spinning assembly is configured to engage with the smoking article container receptacle assembly via receiving the rod of the smoking article container receptacle assembly within a recess of the spinning assembly and transitioning a latch member from an unlatched configuration to a latched configuration such that the rod of the smoking article container receptacle assembly is retained within the recess. 8. An apparatus, comprising:

a set of spin arms, each spin arm from the set of spin arms defining a recess configured to receive a rod of a smoking article container receptacle assembly of a set of smoking article container receptacle assemblies, the smoking article container receptacle assembly including a frame and a set of elongated members supported by the frame, each elongated member from the set of elongated members having a first end, a second end, and defining a lumen configured to receive a smoking article container from a set of smoking article containers, the frame including an extension member, the rod coupled to and extending laterally from the extension member;

a set of latching members, each latching member coupled to a respective spin arm from the set of spin arms and configured to be transitioned between a latched position and an unlatched position relative to the recess of the respective spin arm, each latching member configured to form a boundary of the recess of the respective spin arm in the latched position such that the rod of the smoking article container receptacle assembly can be retained within the recess of the spin arm by the latching member; and

a motor configured to rotate the set of spin arms about a central axis such that, when each smoking article container receptacle assembly of the set of smoking article container receptacle assemblies is retained by a respective latching member of the set of latching members within a recess of a respective spin arm from the set of spin arms, 1) the set of elongated members of each smoking article container receptacle assembly of the set of smoking article container receptacle assemblies rotates relative to the respective rod of each smoking article container receptacle assembly from a first orientation in which the set of elongated members are vertically-oriented to a second orientation in which the set of elongated members are non-vertically-orientated and 2) when each smoking article container from the set of smoking article containers is disposed within a respective elongated member from the set of elongated members of the smoking article container receptacle assembly and a filler material is disposed within each smoking article container from the set of smoking article containers, the filler material disposed within each smoking article container from the set of smoking article containers is compressed toward a closed end of each smoking article container.

9. The apparatus of embodiment 8, wherein the recess of each spin arm includes a first recess portion and a second recess portion spaced from and coaxial with the first recess portion, each spin arm from the set of spin arms including a first extension portion defining the first recess portion and a second extension portion defining the second recess portion, the first recess portion configured to receive a first portion of the rod of the smoking article container receptacle assembly, the second recess portion configured to receive a second portion of the rod of the smoking article container receptacle assembly, the latching member forming a boundary of the first recess portion and the second recess portion in the latched position such that the rod of the smoking article container receptacle assembly can be retained within the first recess portion and the second recess portion of the swing arm by the latching member. 10. The apparatus of embodiment 8, wherein each latching member of the set of latching members defines a gap through which the extension member of the smoking article container receptacle assembly associated with the latching member can rotate relative to the swing arm associated with the latching member when the smoking article container receptacle assembly transitions from the first orientation to the second orientation. 11. The apparatus of embodiment 8, wherein the elongated members of the each smoking article container receptacle assembly of the set of smoking article container receptacle assemblies are horizontally-oriented in the second orientation. 12. The apparatus of embodiment 8, wherein the central axis is the central axis of a spin arm support, the set of spin arms coupled to the spin arm support and extending away from the central axis, the motor configured to rotate the set of spin arms about the central axis of the spin arm support via controlling the rotation of the spin arm support. 13. The apparatus of embodiment 8, wherein the set of spin arms includes six spin arms. 14. The apparatus of embodiment 8, further comprising a set of latching assemblies, each latching assembly including a respective latching member from the set of latching members and being coupled to a respective spin arm of the set of spin arms, each latching assembly including at least one elongated member, at least one spring, at least one supporting element, and a plate, a first end of the at least one elongated member coupled to the latching member and a second end of the at least one elongated member coupled to the plate, the at least one elongated member coupled to the respective spin arm of the set of spin arms via the at least one supporting element, the at least one spring disposed between the at least one supporting element and the latching member and configured to bias the latching member toward the latched position, the plate configured to be translated away from the at least one supporting element to translate the latching member from the latched position to the unlatched position. 15. The apparatus of embodiment 14, further comprising a latch actuator assembly including a linear actuator and a plate, the motor configured to align the plate of the latch actuator assembly with the plate of a latching assembly of the set of latching assemblies, the linear actuator configured to translate the plate of the latch actuator assembly into contact with the plate of the latching assembly and to pull the plate of the latching assembly such that the latching member of the latching assembly is translated from the latched position to the unlatched position. 16. The apparatus of embodiment 8, wherein the motor is configured to rotate the set of spin arms at a rate of at least 900 revolutions per minute. 17. The apparatus of embodiment 8, further comprising:

a first actuator assembly configured to raise a first smoking article container receptacle assembly of the set of smoking article container receptacle assemblies such that the rod of the first smoking article container receptacle assembly is received within the recess of a first swing arm of the set of swing arms; and

a second actuator assembly configured to lower a second smoking article container receptacle assembly of the set of smoking article container receptacle assemblies such that the rod of the second smoking article container receptacle assembly is translated out of the recess of a second swing arm of the set of swing arms.

18. A method, comprising:

dispensing each smoking article container from a set of smoking article containers into an interior of a respective elongated member of a set of elongated members of a smoking article container receptacle assembly;

sequentially filling each smoking article container from the set of smoking article containers with a filler material having a weight above a threshold weight; and

spinning the smoking article container receptacle assembly such that the smoking article container receptacle assembly transitions from a vertical orientation to a horizontal orientation and such that the filler material disposed within each smoking article container is compressed from an open end toward a closed end of each smoking article container.

19. The method of embodiment 18, wherein the spinning includes disposing a rod of the smoking article container receptacle assembly within a recess of a swing arm of a spinning assembly and transitioning a latching member of the spinning assembly from an unlatched configuration to a latched configuration such that the smoking article container receptacle assembly is retained within the recess of the swing arm and able to rotate relative to the swing arm about a central axis of the rod. 20. The method of embodiment 18, further comprising moving the smoking article container receptacle assembly via a conveyor assembly after the dispensing and before the filling and after the filling and before the spinning.

Some embodiments described herein relate to a computer storage product with a non-transitory computer-readable medium (also can be referred to as a non-transitory processor-readable medium) having instructions or computer code thereon for performing various computer-implemented operations. The computer-readable medium (or processor-readable medium) is non-transitory in the sense that it does not include transitory propagating signals per se (e.g., a propagating electromagnetic wave carrying information on a transmission medium such as space or a cable). The media and computer code (also can be referred to as code) may be those designed and constructed for the specific purpose or purposes. Examples of non-transitory computer-readable media include, but are not limited to, magnetic storage media such as hard disks, floppy disks, and magnetic tape; optical storage media such as Compact Disc/Digital Video Discs (CD/DVDs), Compact Disc-Read Only Memories (CD-ROMs), and holographic devices; magneto-optical storage media such as optical disks; carrier wave signal processing modules; and hardware devices that are specially configured to store and execute program code, such as Application-Specific Integrated Circuits (ASICs), Programmable Logic Devices (PLDs), Read-Only Memory (ROM) and Random-Access Memory (RAM) devices. Other embodiments described herein relate to a computer program product, which can include, for example, the instructions and/or computer code discussed herein.

Some embodiments and/or methods described herein can be performed by software (executed on hardware), hardware, or a combination thereof. Hardware modules may include, for example, a general-purpose processor, a field programmable gate array (FPGA), and/or an application specific integrated circuit (ASIC). Software modules (executed on hardware) can be expressed in a variety of software languages (e.g., computer code), including C, C++, Java™ Ruby, Visual Basic™, and/or other object-oriented, procedural, or other programming language and development tools. Examples of computer code include, but are not limited to, micro-code or micro-instructions, machine instructions, such as produced by a compiler, code used to produce a web service, and files containing higher-level instructions that are executed by a computer using an interpreter. For example, embodiments may be implemented using imperative programming languages (e.g., C, Fortran, etc.), functional programming languages (Haskell, Erlang, etc.), logical programming languages (e.g., Prolog), object-oriented programming languages (e.g., Java, C++, etc.) or other suitable programming languages and/or development tools. Additional examples of computer code include, but are not limited to, control signals, encrypted code, and compressed code.

Various concepts may be embodied as one or more methods, of which at least one example has been provided. The acts performed as part of the method may be ordered in any suitable way. Accordingly, embodiments may be constructed in which acts are performed in an order different than illustrated, which may include performing some acts simultaneously, even though shown as sequential acts in illustrative embodiments. Put differently, it is to be understood that such features may not necessarily be limited to a particular order of execution, but rather, any number of threads, processes, services, servers, and/or the like that may execute serially, asynchronously, concurrently, in parallel, simultaneously, synchronously, and/or the like in a manner consistent with the disclosure. As such, some of these features may be mutually contradictory, in that they cannot be simultaneously present in a single embodiment. Similarly, some features are applicable to one aspect of the innovations, and inapplicable to others.

In addition, the disclosure may include other innovations not presently described. Applicant reserves all rights in such innovations, including the right to embodiment such innovations, file additional applications, continuations, continuations-in-part, divisional s, and/or the like thereof. As such, it should be understood that advantages, embodiments, examples, functional, features, logical, operational, organizational, structural, topological, and/or other aspects of the disclosure are not to be considered limitations on the disclosure as defined by the embodiments or limitations on equivalents to the embodiments. Depending on the particular desires and/or characteristics of an individual and/or enterprise user, database configuration and/or relational model, data type, data transmission and/or network framework, syntax structure, and/or the like, various embodiments of the technology disclosed herein may be implemented in a manner that enables a great deal of flexibility and customization as described herein.

All definitions, as defined and used herein, should be understood to control over dictionary definitions, definitions in documents incorporated by reference, and/or ordinary meanings of the defined terms.

As used herein, in particular embodiments, the terms “about” or “approximately” when preceding a numerical value indicates the value plus or minus a range of 10%. Where a range of values is provided, it is understood that each intervening value, to the tenth of the unit of the lower limit unless the context clearly dictates otherwise, between the upper and lower limit of that range and any other stated or intervening value in that stated range is encompassed within the disclosure. That the upper and lower limits of these smaller ranges can independently be included in the smaller ranges is also encompassed within the disclosure, subject to any specifically excluded limit in the stated range. Where the stated range includes one or both of the limits, ranges excluding either or both of those included limits are also included in the disclosure.

The indefinite articles “a” and “an,” as used herein in the specification and in the embodiments, unless clearly indicated to the contrary, should be understood to mean “at least one.”

The phrase “and/or,” as used herein in the specification and in the embodiments, should be understood to mean “either or both” of the elements so conjoined, i.e., elements that are conjunctively present in some cases and disjunctively present in other cases. Multiple elements listed with “and/or” should be construed in the same fashion, i.e., “one or more” of the elements so conjoined. Other elements may optionally be present other than the elements specifically identified by the “and/or” clause, whether related or unrelated to those elements specifically identified. Thus, as a non-limiting example, a reference to “A and/or B”, when used in conjunction with open-ended language such as “comprising” can refer, in one embodiment, to A only (optionally including elements other than B); in another embodiment, to B only (optionally including elements other than A); in yet another embodiment, to both A and B (optionally including other elements); etc.

As used herein in the specification and in the embodiments, “or” should be understood to have the same meaning as “and/or” as defined above. For example, when separating items in a list, “or” or “and/or” shall be interpreted as being inclusive, i.e., the inclusion of at least one, but also including more than one, of a number or list of elements, and, optionally, additional unlisted items. Only terms clearly indicated to the contrary, such as “only one of” or “exactly one of,” or, when used in the embodiments, “consisting of,” will refer to the inclusion of exactly one element of a number or list of elements. In general, the term “or” as used herein shall only be interpreted as indicating exclusive alternatives (i.e. “one or the other but not both”) when preceded by terms of exclusivity, such as “either,” “one of” “only one of” or “exactly one of.” “Consisting essentially of,” when used in the embodiments, shall have its ordinary meaning as used in the field of patent law.

As used herein in the specification and in the embodiments, the phrase “at least one,” in reference to a list of one or more elements, should be understood to mean at least one element selected from any one or more of the elements in the list of elements, but not necessarily including at least one of each and every element specifically listed within the list of elements and not excluding any combinations of elements in the list of elements. This definition also allows that elements may optionally be present other than the elements specifically identified within the list of elements to which the phrase “at least one” refers, whether related or unrelated to those elements specifically identified. Thus, as a non-limiting example, “at least one of A and B” (or, equivalently, “at least one of A or B,” or, equivalently “at least one of A and/or B”) can refer, in one embodiment, to at least one, optionally including more than one, A, with no B present (and optionally including elements other than B); in another embodiment, to at least one, optionally including more than one, B, with no A present (and optionally including elements other than A); in yet another embodiment, to at least one, optionally including more than one, A, and at least one, optionally including more than one, B (and optionally including other elements); etc.

In the embodiments, as well as in the specification above, all transitional phrases such as “comprising,” “including,” “carrying,” “having,” “containing,” “involving,” “holding,” “composed of,” and the like are to be understood to be open-ended, i.e., to mean including but not limited to. Only the transitional phrases “consisting of” and “consisting essentially of” shall be closed or semi-closed transitional phrases, respectively, as set forth in the United States Patent Office Manual of Patent Examining Procedures, Section 2111.03.

While specific embodiments of the present disclosure have been outlined above, many alternatives, modifications, and variations will be apparent to those skilled in the art. Accordingly, the embodiments set forth herein are intended to be illustrative, not limiting. Various changes may be made without departing from the spirit and scope of the disclosure. Where methods and steps described above indicate certain events occurring in a certain order, those of ordinary skill in the art having the benefit of this disclosure would recognize that the ordering of certain steps may be modified and such modification are in accordance with the variations of the invention. Additionally, certain of the steps may be performed concurrently in a parallel process when possible, as well as performed sequentially as described above. The embodiments have been particularly shown and described, but it will be understood that various changes in form and details may be made. 

1. A system, comprising: a smoking article container receptacle assembly including a frame and a set of elongated members supported by the frame, each elongated member from the set of elongated members having a first end, a second end, and defining a lumen configured to receive a smoking article container, the frame including an extension member and a rod coupled to and extending laterally from the extension member; a dispensing assembly configured to dispense a set of smoking article containers into the lumens of the elongated members of the smoking article container receptacle assembly such that a smoking article container is disposed within each lumen, each smoking article container having a first end and a second end, the first end being a closed end; a filling assembly configured to fill each smoking article container from the set of smoking article container disposed in the smoking article container receptacle assembly with filler material; and a spinning assembly configured to engage with the smoking article container receptacle assembly such that the smoking article container receptacle assembly is rotatably coupled to a spin arm of the spinning assembly via the rod of the smoking article container receptacle assembly, the spinning assembly configured to rotate the smoking article container receptacle assembly about an axis such that the set of elongated members of the smoking article container receptacle assembly rotate outward relative to the rod of the smoking article container receptacle assembly from a vertical orientation to a non-vertical orientation and the filler material within each smoking article container is compressed toward the first end of each smoking article container.
 2. The system of claim 1, further comprising a twisting assembly configured to twist closed the second end of each smoking article container of the set of smoking article containers.
 3. The system of claim 1, further comprising an unloading assembly configured to remove each smoking article container from the set of smoking article containers from the smoking article container receptacle assembly and move each smoking article container from the set of smoking article containers to a location distinct from the smoking article container receptacle assembly.
 4. The system of claim 1, wherein each elongated member of the set of elongated members includes an upper portion and a lower portion, the upper portion having a shape that tapers toward the lower portion, the lower portion having a tubular shape.
 5. The system of claim 1, wherein the elongated members of the set of elongated members are disposed in a circular arrangement such that a central axis of each elongated member is parallel to a central axis of each of the remaining elongated members.
 6. The system of claim 1, further comprising a conveyor assembly configured to move the smoking article container receptacle assembly from the dispensing assembly to the filling assembly and from the filling assembly to the spinning assembly.
 7. The system of claim 1, wherein the spinning assembly is configured to engage with the smoking article container receptacle assembly via receiving the rod of the smoking article container receptacle assembly within a recess of the spinning assembly and transitioning a latch member from an unlatched configuration to a latched configuration such that the rod of the smoking article container receptacle assembly is retained within the recess.
 8. An apparatus, comprising: a set of spin arms, each spin arm from the set of spin arms defining a recess configured to receive a rod of a smoking article container receptacle assembly of a set of smoking article container receptacle assemblies, the smoking article container receptacle assembly including a frame and a set of elongated members supported by the frame, each elongated member from the set of elongated members having a first end, a second end, and defining a lumen configured to receive a smoking article container from a set of smoking article containers, the frame including an extension member, the rod coupled to and extending laterally from the extension member; a set of latching members, each latching member coupled to a respective spin arm from the set of spin arms and configured to be transitioned between a latched position and an unlatched position relative to the recess of the respective spin arm, each latching member configured to form a boundary of the recess of the respective spin arm in the latched position such that the rod of the smoking article container receptacle assembly can be retained within the recess of the spin arm by the latching member; and a motor configured to rotate the set of spin arms about a central axis such that, when each smoking article container receptacle assembly of the set of smoking article container receptacle assemblies is retained by a respective latching member of the set of latching members within a recess of a respective spin arm from the set of spin arms, 1) the set of elongated members of each smoking article container receptacle assembly of the set of smoking article container receptacle assemblies rotates relative to the respective rod of each smoking article container receptacle assembly from a first orientation in which the set of elongated members are vertically-oriented to a second orientation in which the set of elongated members are non-vertically-orientated and 2) when each smoking article container from the set of smoking article containers is disposed within a respective elongated member from the set of elongated members of the smoking article container receptacle assembly and a filler material is disposed within each smoking article container from the set of smoking article containers, the filler material disposed within each smoking article container from the set of smoking article containers is compressed toward a closed end of each smoking article container.
 9. The apparatus of claim 8, wherein the recess of each spin arm includes a first recess portion and a second recess portion spaced from and coaxial with the first recess portion, each spin arm from the set of spin arms including a first extension portion defining the first recess portion and a second extension portion defining the second recess portion, the first recess portion configured to receive a first portion of the rod of the smoking article container receptacle assembly, the second recess portion configured to receive a second portion of the rod of the smoking article container receptacle assembly, the latching member forming a boundary of the first recess portion and the second recess portion in the latched position such that the rod of the smoking article container receptacle assembly can be retained within the first recess portion and the second recess portion of the swing arm by the latching member.
 10. The apparatus of claim 8, wherein each latching member of the set of latching members defines a gap through which the extension member of the smoking article container receptacle assembly associated with the latching member can rotate relative to the swing arm associated with the latching member when the smoking article container receptacle assembly transitions from the first orientation to the second orientation.
 11. The apparatus of claim 8, wherein the elongated members of the each smoking article container receptacle assembly of the set of smoking article container receptacle assemblies are horizontally-oriented in the second orientation.
 12. The apparatus of claim 8, wherein the central axis is the central axis of a spin arm support, the set of spin arms coupled to the spin arm support and extending away from the central axis, the motor configured to rotate the set of spin arms about the central axis of the spin arm support via controlling the rotation of the spin arm support.
 13. The apparatus of claim 8, wherein the set of spin arms includes six spin arms.
 14. The apparatus of claim 8, further comprising a set of latching assemblies, each latching assembly including a respective latching member from the set of latching members and being coupled to a respective spin arm of the set of spin arms, each latching assembly including at least one elongated member, at least one spring, at least one supporting element, and a plate, a first end of the at least one elongated member coupled to the latching member and a second end of the at least one elongated member coupled to the plate, the at least one elongated member coupled to the respective spin arm of the set of spin arms via the at least one supporting element, the at least one spring disposed between the at least one supporting element and the latching member and configured to bias the latching member toward the latched position, the plate configured to be translated away from the at least one supporting element to translate the latching member from the latched position to the unlatched position.
 15. The apparatus of claim 14, further comprising a latch actuator assembly including a linear actuator and a plate, the motor configured to align the plate of the latch actuator assembly with the plate of a latching assembly of the set of latching assemblies, the linear actuator configured to translate the plate of the latch actuator assembly into contact with the plate of the latching assembly and to pull the plate of the latching assembly such that the latching member of the latching assembly is translated from the latched position to the unlatched position.
 16. The apparatus of claim 8, wherein the motor is configured to rotate the set of spin arms at a rate of at least 900 revolutions per minute.
 17. The apparatus of claim 8, further comprising: a first actuator assembly configured to raise a first smoking article container receptacle assembly of the set of smoking article container receptacle assemblies such that the rod of the first smoking article container receptacle assembly is received within the recess of a first swing arm of the set of swing arms; and a second actuator assembly configured to lower a second smoking article container receptacle assembly of the set of smoking article container receptacle assemblies such that the rod of the second smoking article container receptacle assembly is translated out of the recess of a second swing arm of the set of swing arms.
 18. A method, comprising: dispensing each smoking article container from a set of smoking article containers into an interior of a respective elongated member of a set of elongated members of a smoking article container receptacle assembly; sequentially filling each smoking article container from the set of smoking article containers with a filler material having a weight above a threshold weight; and spinning the smoking article container receptacle assembly such that the smoking article container receptacle assembly transitions from a vertical orientation to a horizontal orientation and such that the filler material disposed within each smoking article container is compressed from an open end toward a closed end of each smoking article container.
 19. The method of claim 18, wherein the spinning includes disposing a rod of the smoking article container receptacle assembly within a recess of a swing arm of a spinning assembly and transitioning a latching member of the spinning assembly from an unlatched configuration to a latched configuration such that the smoking article container receptacle assembly is retained within the recess of the swing arm and able to rotate relative to the swing arm about a central axis of the rod.
 20. The method of claim 18, further comprising moving the smoking article container receptacle assembly via a conveyor assembly after the dispensing and before the filling and after the filling and before the spinning. 